Pregnancy after dry humping ?

I have an important question about getting pregnant.

My name is Sarah. Yesterday, my boyfriend and I had a great time together alone. We spent some time laughing and cuddling on the bed, but it led to something unexpected. We ended up becoming aroused after a while and we started dry humping. After a few minutes while me being on top of my boyfriend, he came inside his pants. Though, we didn't stop there. We continued and it got wilder. After removing his pants, he thrusted his penis into my vagina only about a few times. Just in case of any details; he went deep for about 2 times and my hymen did not break. Although we seemed to enjoy it, we decided to stop of having fear to risk anything. This was unprotected sex and it was my first time, although he thrusted a few times.

I'm afraid of getting pregnant now because he came first before penetrating me. The sperm or precum that he released probably became dried from his cloth material before removing his pants, but he still inserted his penis inside me. That's the part that is bothering me. It makes me worried that his sperm released may have entered inside my vagina, giving me a high chance of pregnancy. Do you think there's a chance of me becoming pregnant after what happened? I would appreciate any helpful advice and information. Thank you for your time.